JP7227111B2 - working machine - Google Patents

Description

The present invention relates to a working machine having a working device.

In recent years, along with the response to computer-aided construction, a machine guidance function that displays to the operator the posture of work equipment (front work equipment) that has driven members such as booms, arms, and buckets, and the position of work tools such as buckets. Also, working machines having a machine control function for controlling movement of a working tool such as a bucket along a work target surface have been put to practical use. In particular, three-dimensional information-aided construction (3D information-aided construction) refers to work support for machine guidance and machine control using the coordinates of the own vehicle at the construction site. For work machines that support 3D information-based construction, for example, the position information and direction information (information related to orientation) of the own vehicle can be obtained by the Global Navigation Satellite System (GNSS), which has a function as a position detection device. have obtained.

On the other hand, in GNSS, if a sufficient number of satellite signals (positioning signals) cannot be captured, satellite positioning cannot be performed normally, and position information and azimuth information cannot be acquired. If position information and direction information cannot be acquired, the functions of the machine guidance system and the machine control system must be stopped. In other words, if the machine guidance or machine control is stopped frequently, the work efficiency will drop significantly.

Therefore, for example, Patent Document 1 discloses a control system for controlling a work machine including a work machine having a work tool, comprising a position detection device for detecting position information of the work machine, and a position detected by the position detection device. a generation unit that obtains the position of the work machine based on the position information obtained from the work machine and generates target excavation landform information that indicates a target shape of an object to be excavated by the work machine from information of a target construction surface that shows the target shape; a work implement control unit that performs excavation control to control a speed in a direction in which the work implement approaches an excavation target to be equal to or less than a speed limit, based on the acquired target excavation landform information; A control system for a work machine, wherein, when the target excavation landform information cannot be acquired during execution of the excavation control, the control unit continues the excavation control using the target excavation landform information before the time when the target excavation landform information cannot be acquired. is disclosed.

WO2015/181990

In the conventional technology described above, even if the GNSS antenna of the working machine cannot receive the reference position data transmitted from the positioning satellites constituting the GNSS, the machine control is continued as long as the working machine does not run or turn. We are trying to suppress the decline in work efficiency.

By the way, since the front working machine of the hydraulic excavator, which is one of the working machines, is made of a metal member, it is conceivable that the satellite signal to be received by the GNSS antenna may be reflected or blocked by the front working machine. Further, in the excavation operation of the hydraulic excavator, since the front working machine repeats vertical movement, an environment is created in which satellite signals are repeatedly reflected and interrupted. In such a usage environment, although the number of satellite signals that can be received by the GNSS antenna changes, a sufficient number of satellite signals can be secured for positioning calculation, so the GNSS receiver can continue positioning calculation. However, since the number of satellite signals received by the GNSS antenna and the arrangement of satellites from which satellite signals are to be received change as a result, it is conceivable that positioning results may vary.

The present invention has been made in view of the above, and by appropriately evaluating the positioning accuracy of a position detection device that uses positioning signals from positioning satellites, it is possible to ensure both construction accuracy and work efficiency reduction. The purpose is to provide a working machine that can

The present application includes a plurality of means for solving the above problems. To give an example, an undercarriage; An articulated front working machine comprising a plurality of front members attached and rotatably connected; An attitude information detection device for detecting attitude information, which is information, and a position information detector provided on the upper slewing structure for detecting position information of the upper slewing structure and dispersion of the position information using positioning signals from positioning satellites. and a guidance system that provides work guidance to an operator based on posture information detected by the posture information detection device and position information detected by the position information detection device, wherein the guidance system comprises: calculating the positional variance of the reference points set for the front working machine based on the positional information detected by the positional information detecting device and the positional information detected by the positional information detecting device ; The distance between the position obtained by approximately coordinate-transforming the dispersion of the positions of the reference points by a predetermined statistical method and the reference point is the distance between the predetermined work target plane and the reference point and the work target. When it is determined that the reference point is in a low-accuracy state when it is larger than the sum of the surface and a predetermined allowable error, and the accuracy determination processing determines that the reference point is in a low-accuracy state. shall notify the operator to that effect.

According to the present invention, by appropriately evaluating the positioning accuracy of a position detection device that uses positioning signals from positioning satellites, it is possible to ensure construction accuracy and suppress work efficiency from decreasing.

1 is a diagram schematically showing the appearance of a hydraulic excavator, which is an example of a working machine; FIG. FIG. 4 is a diagram schematically showing part of processing functions of a controller mounted on the hydraulic excavator; FIG. 4 is a diagram schematically showing details of processing functions of a controller; FIG. 2 is a diagram schematically showing a coordinate system set at a construction site together with a hydraulic excavator; It is a figure which shows an example of the reference point set to a front work machine. It is a figure which shows an example of the reference point set to a front work machine. It is a figure which shows an example of the reference point set to a front work machine. It is a figure which shows an example of the reference point set to a front work machine. It is a figure which shows an example of the reference point set to a front work machine. It is a figure which shows an example of the reference point set to a front work machine. It is a figure which shows an example of the reference point set to a front work machine. It is a figure explaining the basic concept of the accuracy determination process in an accuracy determination part. It is a figure explaining the basic concept of the accuracy determination process in an accuracy determination part. It is a figure explaining the basic concept of the accuracy determination process in an accuracy determination part. It is a figure explaining the processing content of an accuracy determination process. It is a figure explaining the processing content of an accuracy determination process. It is a figure explaining the processing content of an accuracy determination process. 4 is a flow chart showing processing contents in a positioning calculation unit; FIG. 10 is a diagram schematically showing details of processing functions of a controller according to the second embodiment; FIG. It is a figure explaining the processing content of the accuracy determination process which concerns on 2nd Embodiment. It is a figure explaining the processing content of the accuracy determination process which concerns on 2nd Embodiment. It is a figure explaining the processing content of the accuracy determination process which concerns on 2nd Embodiment. It is a figure explaining the processing content of the accuracy determination process which concerns on 2nd Embodiment. 9 is a flow chart showing processing contents in a positioning calculation unit according to the second embodiment; FIG. 13 is a diagram schematically showing details of processing functions of a controller according to the fourth embodiment; FIG. FIG. 13 is a diagram schematically showing details of processing functions of a controller according to the fourth embodiment; FIG. It is a figure explaining the calculation method of the azimuth angle based on 4th Embodiment. It is a figure explaining the effect of this invention. It is a figure explaining the effect of this invention. It is a figure explaining the effect of this invention. It is a figure explaining the effect of this invention. It is a figure explaining the effect of this invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a hydraulic excavator will be described as an example of a working machine, but the present invention can also be applied to other working machines having a front working machine.

<First Embodiment>
A first embodiment of the present invention will be described with reference to FIGS. 1 to 10. FIG.

FIG. 1 is a diagram schematically showing the appearance of a hydraulic excavator, which is an example of a working machine according to the present embodiment.

In FIG. 1, a hydraulic excavator 100 is a multi-joint type front working machine 1 configured by connecting a plurality of driven members (a boom 4, an arm 5, and a bucket (working tool) 6) that rotate in the vertical direction. , and an upper revolving body 2 and a lower running body 3 that constitute a vehicle body, and the upper revolving body 2 is provided so as to be able to turn relative to the lower running body 3 . The base end of the boom 4 of the front working machine 1 is supported by the front part of the upper swing body 2 so as to be capable of rotating in the vertical direction, and one end of the arm 5 is an end different from the base end of the boom 4 (tip end). ) is rotatably supported in the vertical direction, and a bucket 6 is supported at the other end of the arm 5 so as to be rotatable in the vertical direction. The boom 4, the arm 5, the bucket 6, the upper rotating body 2, and the lower traveling body 3 are hydraulic actuators such as a boom cylinder 4a, an arm cylinder 5a, a bucket cylinder 6a, a swing motor 2a, and left and right traveling motors 3a (however, (only one travel motor is shown).

In the driver's cab 9 where the operator rides, there is a monitor 30 (see FIG. 2 later) on which various information is displayed, as well as an operation lever (operating device) for outputting an operation signal for operating the hydraulic actuators 2a to 6a. 9a and 9b are provided. Although not shown, the operating levers 9a and 9b can be tilted forward, backward, leftward, and rightward. The amount of lever operation is output to a controller 20 (see later FIG. 2), which is a control device, via electrical wiring. That is, the operations of the hydraulic actuators 2a to 6a are assigned to the front-rear direction or left-right direction of the operation levers 9a and 9b, respectively. Although not described in detail, the operator's cab 9 is also provided with a travel control lever for outputting an operation signal for operating the travel motor 3a.

The boom cylinder 4a, the arm cylinder 5a, the bucket cylinder 6a, the swing motor 2a, and the left and right traveling motors 3a are controlled by hydraulic actuators 2a to 6a from a hydraulic pump device 7 driven by a prime mover such as an engine or an electric motor (not shown). A control valve 8 controls the direction and flow rate of the hydraulic oil supplied to . The control valve 8 is driven by a drive signal (pilot pressure) output from a pilot pump (not shown) through an electromagnetic proportional valve. The operation of each hydraulic actuator 2a to 6a is controlled by controlling the electromagnetic proportional valve by the controller 20 based on the operation signal from the operation levers 9a and 9b.

The operation levers 9a and 9b may be of a hydraulic pilot type, and the pilot pressure corresponding to the operation direction and operation amount of the operation levers 9a and 9b operated by the operator is supplied to the control valve 8 as a drive signal, It may be configured to drive each of the hydraulic actuators 2a to 6a.

Inertial Measurement Units (IMUs) 13 to 16 are arranged as attitude sensors in the upper rotating body 2, the boom 4, the arm 5, and the bucket 6, respectively. Hereinafter, when it is necessary to distinguish these inertial measurement devices, they are referred to as a vehicle body inertial measurement device 13, a boom inertial measurement device 14, an arm inertial measurement device 15, and a bucket inertial measurement device 16, respectively.

The inertial measurement devices 13-16 measure angular velocity and acceleration. Considering the case where the upper rotating body 2 on which the inertial measurement devices 13 to 16 are arranged and the driven members 4 to 6 are stationary, the gravitational acceleration in the IMU coordinate system set for each inertial measurement device 13 to 16 is direction (that is, vertically downward direction) and the mounting state of each inertial measurement device 13-16 (that is, the relative positional relationship between each inertial measurement device 13-16 and the upper revolving body 2 and each driven member 4-6 ), the orientation of each of the driven members 4 to 6 (angle with respect to the ground: angle with respect to the horizontal direction), the angle of the upper rotating body 2 with respect to the ground in the longitudinal direction (pitch angle) and the angle with respect to the ground in the lateral direction (roll angle ) can be detected as information about the posture. Here, the inertial measurement devices 14 to 16 constitute an attitude information detection device that detects information (hereinafter referred to as attitude information) about the attitudes of the plurality of driven members 4 to 6 and the upper revolving body 2. . In this embodiment, the case where the inertial measurement devices 14 to 16 implement the function of calculating each angle will be described as an example. , the same processing can be performed by implementing an angle calculation function in the controller 20, which will be described later.

Receiving antennas (GNSS antennas) 17a and 17b for GNSS (Global Navigation Satellite System) are arranged on the upper portion of the upper swing body 2 . GNSS is a satellite positioning system that receives positioning signals from a plurality of positioning satellites and knows its own position on the earth. The GNSS antennas 17a and 17b receive positioning signals from a plurality of positioning satellites located above the earth, and the GNSS receiver 17c (see later FIG. 3) performs calculations based on the obtained positioning signals. Thereby, the positions of the GNSS antennas 17a and 17b in the earth coordinate system can be acquired. Since the mounting positions of the GNSS antennas 17a and 17b with respect to the excavator 100 are known in advance, the position and orientation ( azimuth) can be obtained as position information. In addition, since the GNSS receiver 17c uses statistical processing such as a Kalman filter (KF) to calculate the position information (position, azimuth angle), the dispersion of the position information (position, azimuth angle) is used as the position information. are calculated at the same time. Here, the GNSS antennas 17a and 17b and the GNSS receiver 17c constitute a GNSS system 17 as a position information detection device that detects the position information of the upper slewing body 2 and the dispersion of the position information using positioning signals from positioning satellites. are doing.

In addition, the GNSS system 17 according to the present embodiment is an RTK-GNSS that performs RTK positioning (Real Time Kinematic positioning) of position information by connecting to a GNSS fixed station installed in the construction site by wireless communication. Consider the case. Moreover, in the case of a construction site without a GNSS fixed station, a network-type RTK that acquires information on electronic reference stations via the Internet may be used. In the following description, it is assumed that the GNSS system 17 can perform RTK positioning regardless of the presence or absence of fixed stations within the construction site.

FIG. 2 is a diagram schematically showing part of the processing functions of a controller mounted on a hydraulic excavator. FIG. 3 is a diagram schematically showing details of processing functions of the controller.

2 and 3, the controller 20 is mounted at a predetermined position of the hydraulic excavator 100 and has various functions for controlling the operation of the hydraulic excavator 100. , a positioning calculation unit 20a, a monitor display control unit 20b, a hydraulic system control unit 20c, and a work target plane calculation unit 20d.

The positioning calculation unit 20a calculates the position coordinates, orientation (azimuth angle), A three-dimensional attitude information calculation process for calculating information (three-dimensional attitude information) such as the attitude and the attitude of the front working machine 1 is performed. The positioning calculation unit 20a also performs accuracy determination processing for determining the accuracy of position detection by the GNSS system 17, and outputs a low-accuracy warning flag when it is determined that the detection accuracy is degraded.

The work target plane calculation unit 20d receives construction information 21 (construction target plane) such as a three-dimensional construction drawing pre-stored by the construction manager in a storage device (not shown) or the like, and three-dimensional posture information calculated by the positioning calculation unit 20a. A work target surface, which is the target shape of the construction object, is calculated based on and.

The monitor display control unit 20b controls the display of the monitor 30 provided in the driver's cab 9, and displays the work target plane calculated by the work target plane calculation unit 20d and the three-dimensional display calculated by the positioning calculation unit 20a. Based on the attitude information (more specifically, the attitude of the front working machine 1), the contents of instructions for operation support to the operator are calculated and displayed on the monitor in the operator's cab 9. FIG. That is, the monitor display control unit 20b displays, for example, the posture of the front working machine 1 having driven members such as the boom 4, the arm 5, and the bucket 6, and the tip position and angle of the bucket 6 on the monitor. It plays a part of the function as a machine guidance system that supports operator's operations.

In addition, the monitor display control unit 20b warns the monitor 30 in the driver's cab 9 when an abnormality occurs in the positioning result by the GNSS system 17, that is, when a low-precision warning flag is output from the positioning calculation unit 20a. is displayed to inform the operator that the guidance function is to be interrupted. Since the monitor 30 can output sounds (including warning sounds), it is possible to issue work instructions and alerts not only by screen display but also by sound under the control of the monitor display control section 20b.

Note that the monitor 30 is not only a display device but also has a function as an input device such as a touch panel. For example, the monitor 30 is a tablet terminal having both functions as a display device and an input device. In the following description, an example in which the monitor 30 is the tablet terminal 30 will be described.

The hydraulic system control unit 20c controls the hydraulic system of the hydraulic excavator 100 including the hydraulic pump device 7, the control valve 8, and the hydraulic actuators 2a to 6a. The operation of the front work implement 1 is calculated based on the surface and the three-dimensional posture (more specifically, the posture of the front work implement 1) calculated by the positioning calculation unit 20a, and the hydraulic excavator 100 is controlled so as to realize the calculated motion. controls the hydraulic system of That is, the hydraulic system control unit 20c, for example, restricts the operation so that the tip of the work tool such as the bucket 6 does not approach the target surface beyond a certain level, or controls the work tool so that it moves along the target surface. It plays a part of the function as a machine control system. In addition, when an abnormality occurs in the positioning result of the GNSS system 17 and the monitor display control unit 20b displays a warning on the tablet terminal 30, that is, when a low accuracy warning is output from the positioning calculation unit 20a, The hydraulic system control section 20c also stops the machine control function.

2 and 3 illustrate the case where one controller 20 executes the respective functional units of the positioning calculation unit 20a, the monitor display control unit 20b, the hydraulic system control unit 20c, and the work target plane calculation unit 20d. However, the present invention is not limited to this, and each functional unit may be configured to be executed by different controllers. When each functional section is executed by a different controller, the controller in which the function of the positioning calculation section 20a is implemented corresponds to the three-dimensional calculation device.

In FIG. 3, the positioning calculation unit 20a has a three-dimensional posture calculation unit 20a-1, a point-to-point distance calculation unit 20a-2, and an accuracy determination unit 20a-3.

The three-dimensional attitude calculation unit 20a-1 receives the attitude information acquired by the inertial measurement devices 13 to 16 attached to the upper revolving body 2 and the front working machine 1, and the position information and variance calculated by the GNSS system 17 as input. , the posture of the hydraulic excavator 100 in the three-dimensional space (that is, the three-dimensional posture information) is calculated. Posture information calculated by the three-dimensional posture information calculation unit 20a-1 is output to the monitor display control unit 20b, the hydraulic system control unit 20c, and the work target surface calculation unit 20d, and is used for calculation of machine guidance and machine control. be.

The three-dimensional posture information calculation unit 20a-1 also sets the position (reference point position) of a reference point (detailed later) set on the bucket 6 for excavation work as three-dimensional coordinates (xp, yp, zp). Then, the corresponding reference point variance (σx, σy, σz) is computed.

Based on the reference point position calculated by the three-dimensional posture calculation unit 20a-1 and the construction target surface included in the construction information 21 prefetched into the tablet terminal 30, the inter-point distance calculation unit 20a-2 performs a reference Calculate the distance between the point and the construction target surface. The construction target surface may be set on the spot by the operator operating the tablet terminal 30 without using the construction information 21 set in advance. Further, instead of the distance between the construction target plane and the reference point, it is also possible to calculate the distance between the work target plane and the reference point calculated by the work target plane calculator 20d.

The accuracy determination unit 20a-3 uses the allowable error input via the tablet terminal 30, the distance calculated by the point-to-point distance calculation unit 20a-2, and the reference point calculated by the three-dimensional posture calculation unit 20a-1. Based on the variance, it is determined whether or not the three-dimensional attitude information calculated by the three-dimensional attitude calculation section 20a-1 has the accuracy necessary for use in machine guidance and machine control. When the accuracy determination unit 20a-3 determines that the three-dimensional posture information has sufficient accuracy, it outputs a flag to that effect to the monitor display control unit 20b and the hydraulic system control unit 20c. Further, when the accuracy determination unit 20a-3 determines that the three-dimensional posture information does not have sufficient accuracy, the accuracy determination unit 20a-3 transmits a low accuracy warning flag to the monitor display control unit 20b and the hydraulic system control unit 20c, and performs machine guidance. and disrupt machine control.

The permissible error may be set in advance as design information in the construction information 21, or may be directly set by the operator operating the tablet terminal 30. FIG.

Specific contents of the arithmetic processing in the positioning arithmetic unit 20a will be described below in detail with reference to the drawings.

FIG. 4 is a diagram schematically showing a coordinate system set at a construction site together with a hydraulic excavator.

As shown in FIG. 4, in the present embodiment, the construction site where hydraulic excavator 100 is working is coordinated in a local coordinate system having x-axis and y-axis perpendicular to each other in the horizontal direction and z-axis in the vertical direction. Consider (x, y, z). In FIG. 4, in order to simplify the explanation, the direction (azimuth) of the coordinate ΣA of the GNSS antennas 17a and 17b and the coordinate ZB of the position of the rotation center (boom foot pin) of the base end of the boom 4 are matched. However, if the upper revolving body 2 is rotating, the directions of these coordinates do not match. Therefore, in this case, the azimuth angle information acquired by the GNSS system 17 may be used to rotate around the z-axis.

The three-dimensional posture calculation unit 20a-1 calculates the vehicle body reference coordinate position on the upper swing body 2 based on the position of either of the GNSS antennas 17a and 17b calculated by the GNSS system. It is desirable to set the vehicle body reference coordinate position to the boom foot pin, which is the rotation center position of the front work implement 1 . This calculation is coordinate conversion from the coordinates ΣA of the antenna position calculated by the GNSS receiver 17c to the coordinates ΣB of the boom foot pin position as shown in FIG. Since this coordinate transformation is a general calculation and does not require any special contrivance, detailed description is omitted.

Even if the GNSS system 17 performs positioning in the RTK-Fix state, it is expected that the positioning results will vary somewhat. In such a case, the position information (x, y, z) acquired by the GNSS system 17, the velocity information (vx, vy, vz), the acceleration information (ax, ay, az) acquired by the vehicle body IMU 13 are KF It is expected that variation will be suppressed by integration. A technique for integrating information from different sensing devices is widely known as sensor fusion, and detailed description thereof will be omitted.

If the coordinate ΣB of the boom foot pin position is determined by the above calculation, the attitude of the front working equipment 1 uses the body pitch angle, body roll angle, boom angle, arm angle, and bucket angle obtained by the inertia measurement devices 13 to 16. A specific position of the front work machine 1 (for example, the bucket tip coordinates or the coordinates of the reference point) can be easily calculated by the geometrical operation (coordinate transformation).

Note that the GNSS system 17 provides not only the position (xp, yp, zp), but also the variance (σgx, σgy, σgz). By using the coordinate transformation used to obtain the specific position of the front working machine 1, the distributed information corresponding to the specific position of the front working machine 1 can also be calculated.

Here, since the variance is statistical information, coordinate transformation that transforms point information cannot be used directly. Coordinate transformation of variance can be performed approximately. Further, since the coordinate transformation is only a three-dimensional matrix operation, when the original coordinate vector a is transformed into the coordinate vector b by the coordinate transformation T, that is, when b=Ta, the variance σa of the original coordinates is It is also possible to use the law that the coordinates are given by T(σa)T'. Note that "'" represents a matrix transposition operation.

The three-dimensional posture calculation section 20a-1 can calculate the coordinates of a specific point of the front working machine 1 and the variance of the coordinates by performing the above calculations. In the following description, the variance of the reference points calculated by any of the above methods is assumed to be (σx, σy, σz). Note that x and y are components representing the horizontal direction in local coordinates, and z is a component representing the vertical direction in local coordinates. When using a plurality of reference points that can be candidates for calculation in the point-to-point distance calculation unit 20a-2, which will be described later, the positions and variances of all the points may be calculated.

5A to 5C, 6A to 6D, and 7 are diagrams respectively showing examples of reference points set on the front work implement.

The point-to-point distance calculation unit 20a-2 calculates the shortest distance between the work target surface and the reference point set on the front work implement 1. FIG. However, in the point-to-point distance calculation section 20a-2, the set position of the reference point in the front work implement 1 differs depending on the construction target plane set for each construction content. Basically, the closest position of the front work implement 1 (for example, the bucket 6) to the construction target plane is set as the reference point.

For example, a case will be described where it is assumed that the user does not want the toe to go below a certain target plane, such as leveling work. As shown in FIG. 5A, if the bucket 6 and the construction target plane are horizontal, the center of the bucket 6 is set as the reference point. In addition, as shown in FIG. 5B, there is no problem even if the end of the bucket 6 is set as the reference point. Further, even in the same work, if the vehicle body (upper rotating body 2) is tilted in the left-right direction (that is, when the roll angle is not 0 degrees), the bucket 6 is also tilted in the left-right direction according to the tilt of the vehicle body. , the end point is set as the reference point instead of the center of the bucket 6, as shown in FIG. 5C. Needless to say, this case applies not only when the vehicle body is tilted, but also when the bucket 6 having a tilt mechanism is used. In the case shown in FIGS. 5A to 5C, no matter where the reference point is selected, the target plane is only in the vertical direction, so the vertical vector from the reference point to the construction target plane is calculated as the distance. be.

Next, a description will be given of a case in which it is assumed that the toe does not go under the toes not only in the vertical direction but also in the horizontal direction, such as ditch digging. Since the ditching work creates restricted areas in the vertical and horizontal directions, as shown in FIG. 6A, when the bucket 6 is close in the horizontal direction, the end point of the bucket is set as a reference point. At this time, the horizontal component is also used for the distance between the construction target plane and the reference point. Also, as shown in FIGS. 6B and 6C, when the bucket 6 is positioned sufficiently away from the horizontal restricted area, the vertical distance is set as the reference point.

Next, a description will be given of a case where it is assumed that the toe should not be pushed not only vertically or horizontally but also in the depth direction, such as slope work. In slope work, as shown in FIG. 7, not only the vertical and horizontal but also the depth direction of the target construction surface is restricted. 6C), the position closest to the construction target plane is set as the reference point. Here, it should be noted that the distance between the reference point and the construction target plane is not only one horizontal or vertical component, but also a vector composed of components in each direction, as shown in FIG. Note that the distance calculation is a simple geometry of finding the shortest distance between a plane and a point in a three-dimensional space, so details will be omitted.

The accuracy determination unit 20a-3 calculates the variance of the reference points calculated by the three-dimensional posture calculation unit 20a-1, the distance between the reference points and the construction target surface calculated by the inter-point distance calculation unit 20a-2, and the tablet Based on the allowable error input from the terminal 30, it is evaluated whether the 3D attitude information has sufficient accuracy, that is, whether the positions of the reference points have sufficient accuracy.

8A to 8C are diagrams for explaining the basic concept of accuracy determination processing in the accuracy determination unit.

As shown in FIG. 8A, when the dispersion in the horizontal direction (xy plane direction) is large and the dispersion in the vertical direction (z-axis direction) is small, the calculated reference point is set to the target plane. , that is, the position of the reference point is determined to be calculated with sufficient accuracy, and a low-accuracy warning flag is not set.

Also, as shown in FIG. 8B, when the dispersion in the horizontal direction (xy plane direction) is small and the dispersion in the vertical direction (z-axis direction) is large, the error ellipse of the dispersion greatly deviates from the allowable error. Therefore, if the calculated reference point is used for machine control or machine guidance, it is very likely that the reference point is below the target plane. Therefore, in such a case, a low accuracy warning flag is set and machine control and machine guidance are interrupted.

Also, as shown in FIG. 8C, although the horizontal (xy plane direction) dispersion is small and the vertical (z-axis direction) dispersion is large, the position of the reference point is clearly above the construction target plane. position (that is, when the distance calculated by the point-to-point distance calculator 20a-2 is greater than a certain value), even if the calculated reference point is used for machine control or machine guidance, the reference point is not on the target plane. There is almost no chance of it going down. Therefore, in such a case, the accuracy of the reference point may not be sufficient, but even if the machine guidance and machine control are continued, the possibility that the bucket 6 will contact the construction target surface is low, so the low accuracy warning flag never stand up.

Here, a specific example of accuracy determination processing will be described.

9A to 9C are diagrams for explaining the details of the accuracy determination process. 9A to 9C, the accuracy determination process will be described by exemplifying the case where the construction target plane exists only in the vertical direction as shown in FIGS. 8A to 8C.

In FIGS. 9A to 9C, the vertical axis indicates the calculated value of the probability density function, and the horizontal axis indicates the distance from the construction target surface of the reference point. The right direction of the horizontal axis represents the upward direction with respect to the target plane, and the left direction of the horizontal axis represents the downward direction with respect to the target plane. Therefore, the tolerance is set to the left of the target plane (origin) as the lower tolerance limit. Also, in FIGS. 9A to 9C, only the vertical direction is considered, so the dispersion to be considered is "σz", but for the sake of simplifying the illustration, it is assumed to be "σ".

FIG. 9A is a diagram showing a case where the toe of the bucket (reference point) is above the construction target plane (see FIG. 8C). At this time, since the probability density function hardly wraps around the allowable lower limit, it is determined that there is no need to raise the low-accuracy warning flag. FIG. 9B is a diagram showing a case where the bucket toe (reference point) is in contact with the construction target surface (see FIG. 8A). In this case, since the dispersion is small in the vertical direction, the probability density function has a longer and narrower shape than in the case of FIG. 9A. That is, in FIG. 9B, the probability density function partially overlaps with the lower allowable limit, but since the lower allowable limit is not within the range of (-1σ), it is determined that the low precision warning flag is not to be output. As shown in FIG. 9C, when the variance is large and the allowable lower limit is within the range of (-1σ), it is determined that the low precision warning flag is enabled.

In this way, by comparing the variance σ and the allowable error, it is possible to determine whether or not there is a low-precision state, that is, whether or not the low-precision warning flag is output, by simply comparing the values. This relationship can be described by a simple mathematical formula. Assuming that the distance between the construction target plane and the reference point is a, and the distance between the construction target plane and the lower allowable limit (that is, the allowable error) is b, the distance from the reference point to the lower allowable limit is expressed as "a+b". If the distance (a+b) is smaller than the variance σ, it is determined to be in a low accuracy state, that is, if the conditional expression “a+b<σ” is satisfied, a low accuracy warning flag is output. This conditional expression can be freely set within the scope of the idea of the present invention. For example, "a+b<2σ" may be set with twice the variance as the threshold. The distance a between the construction target plane and the reference point changes when the position of the reference point changes, and becomes a=0 when the reference point is on the construction target plane as shown in FIG. 9B.

FIG. 10 is a flow chart showing the processing contents of the positioning calculation unit.

In FIG. 10, the positioning calculation unit 20a reads the construction information 21 and various setting information (construction target surface and allowable error) directly input by the operator via the tablet terminal 30 (step S100). As for the construction target plane, the work target plane calculated by the work target plane calculation unit 20d may be used as described above.

Subsequently, sensor information necessary for attitude calculation is acquired from the GNSS system 17 and the inertial measurement devices 13 to 16 (step S110).

Subsequently, the three-dimensional attitude calculation unit 20a-1 uses the positions and dispersions of the GNSS antennas 17a and 17b, the output of the GNSS system 17, and the output of the vehicle body IMU 13 to determine the reference point (for example, the boom footpin). The position and variance of are calculated (step S120).

Subsequently, using the positions of the reference points calculated in step S120 and the outputs of the inertial measurement devices 13 to 16, the coordinates and variance σ of the positions of the reference points set on the bucket 6 are calculated.

Subsequently, the point-to-point distance calculator 20a-2 calculates the shortest distance (distance a) between the construction target plane acquired in step S100 and the position of the reference point calculated in step S130 (step S140).

Subsequently, the accuracy determination unit 20a-3 uses the difference b between the construction target surface and the allowable error obtained in step S100, the variance σ of the reference points calculated in step S130, and the distance a calculated in step S140. Then, it is determined whether or not the distance a+b is smaller than the variance σ (step S150).

If the determination result in step S150 is NO, the low accuracy warning flag is invalidated (step S151), and the process ends. If the determination result in step S150 is YES, the low accuracy warning flag is enabled (step S160), and the process ends.

The effects of the present embodiment configured as described above will be described with reference to the drawings.

FIG. 17A is a sky map schematically showing positioning satellites observable from the GNSS antenna provided on the upper revolving structure when the hydraulic excavator lowers the front work implement as shown in FIG. 17B. In this case, since the front working machine does not block the sky, the positioning calculation can be executed in a favorable environment.

On the other hand, FIG. 17C is a sky map schematically showing positioning satellites observable from the GNSS antenna provided on the upper revolving structure when the hydraulic excavator is raising the front work implement as shown in FIG. 17D. . In this case, positioning signals from a specific direction in the sky are blocked, as indicated by region N in FIG. 17C. In the situation of FIG. 17C, the signals of some positioning satellites are not available, but there are enough observable satellites so that the GNSS receiver can continue high precision calculations (RTK-FIX). However, compared to the case shown in FIG. 17A, the number of available satellites is smaller and the satellite arrangement situation (DOP: Dilution Of Precision) is different, so the positioning results differ.

FIG. 17E is a diagram schematically showing the difference in positioning result between the case shown in FIG. 17A and the case shown in FIG. 17C. Although the GNSS receiver calculates the position in a three-dimensional space, the XY two-dimensional plane is considered for simplicity of explanation. That is, when considering the positioning result of the three-dimensional space in FIG. 17E, either the X-axis or the Y-axis should be regarded as the Z-axis.

In FIG. 17E, range A shows the average value of positioning results and the error ellipse (variance of positioning results) when positioning is performed with the front working machine lowered. If there is no bias in the satellite arrangement of the sky map, the error ellipse will have a shape close to a perfect circle (a sphere in three-dimensional space). On the other hand, the range B shows the average value of the positioning results and the error ellipse when the positioning is performed with the front working machine raised. In this way, as is clear from the difference between range A and range B, not only does the average value change due to the difference in the number of satellites and the satellite placement, but also the error ellipse shifts in a specific direction due to the bias in the satellite placement in the sky. It will extend.

When RTK-FIX is maintained, the difference between the average values of range A and range B falls within a range of several centimeters, but in machine guidance and machine control in hydraulic excavators, the implementation procedure for information-aided construction Since the required accuracy (±5 cm for general civil engineering work) must be satisfied, even an error of several centimeters cannot be ignored.

Therefore, if machine guidance and machine control are continued without considering the difference in positioning results shown in range A and range B, there is a possibility that the target construction surface will be excavated too much and construction will have to be redone. be. On the other hand, if the difference between the positioning results of range A and range B is overestimated and the machine guidance and machine control are stopped, there is a possibility that work efficiency will be significantly reduced.

In order to solve such a problem, in the present embodiment, the dispersion Based on and, the dispersion of the positions of the reference points set in the front working equipment 1 is calculated, the accuracy determination processing of the reference point positions is performed based on the dispersion of the positions of the reference points, and the low accuracy state is determined in the accuracy determination processing. When it is determined that it is, it is configured to notify the operator to that effect. It is possible to achieve both the suppression of the decrease in efficiency.

<Second Embodiment>
A second embodiment of the present invention will be described with reference to FIGS. 11, 12A-12D and 13. FIG.

This embodiment shows a case where the deviation probability is used to determine the low-accuracy state (accuracy state determination processing).

FIG. 11 is a diagram schematically showing the details of the processing functions of the controller according to this embodiment. 12A to 12D are diagrams for explaining the details of the accuracy determination process according to this embodiment. Also, FIG. 13 is a flow chart showing the processing contents in the positioning calculation section. In the figure, the same reference numerals are given to the same members as in the first embodiment, and the description thereof is omitted.

In FIG. 11, the positioning calculation unit 20a has a three-dimensional posture calculation unit 20a-1, a point-to-point distance calculation unit 20a-2, and an accuracy determination unit 20a-3.

The accuracy determination unit 20a-3 uses the threshold input via the tablet terminal 30, the allowable error, the distance calculated by the point-to-point distance calculation unit 20a-2, and the distance calculated by the three-dimensional posture calculation unit 20a-1. Based on the reference point variance obtained, it is determined whether or not the three-dimensional posture information calculated by the three-dimensional posture calculation section 20a-1 has the accuracy required for use in machine guidance and machine control. When the accuracy determination unit 20a-3 determines that the three-dimensional posture information has sufficient accuracy, the accuracy determination unit 20a-3 outputs a flag to that effect to the monitor display control unit 20b and the hydraulic system control unit 20c. Further, when the accuracy determination unit 20a-3 determines that the three-dimensional posture information does not have sufficient accuracy, the accuracy determination unit 20a-3 transmits a low-accuracy warning flag to the monitor display control unit 20b and the hydraulic system control unit 20c, and performs machine guidance. and disrupt machine control.

The threshold value input from the tablet terminal 30 may be incorporated in the construction information 21 in advance, and a large threshold value is set for rough excavation work that does not require high accuracy, and a small threshold value is set for finishing work that requires high accuracy. By setting the threshold value, the operator can save the trouble of setting the threshold value.

In the accuracy determination process, the accuracy determination unit 20a-3 determines the probability that the reference point is below the lower allowable limit in the hatched range (that is, the area enclosed by the probability density function and the lower allowable limit) shown in FIGS. (deviation probability), and this deviation probability is used as a criterion for determining the low-precision warning flag.

FIG. 12A shows deviation probabilities when the reference point is far enough away from the construction target plane as in the case shown in FIG. 9A. Also, FIG. 12B shows a case where the distance a is reduced while the dispersion σ remains the same as in FIG. 12A, that is, a case where the toe position approaches the construction target surface. As can be seen from FIGS. 12A and 12B, when the toe position approaches the construction target plane, the area of the probability density function below the allowable lower limit increases, so the deviation probability increases.

Also, FIG. 12C shows a case where the distance a between the reference point and the target plane is the same as in FIG. 12B, but only the variance is small. Thus, even if the distance a is the same, the deviation probability decreases when the variance is small.

As described above, the deviation probability increases as the distance a from the construction target plane to the reference point decreases or as the variance increases. Based on the above knowledge, the present embodiment uses the deviation probability to determine the low-accuracy state. Specifically, for example, when the deviation probability exceeds a predetermined threshold (for example, 30%), it is determined that the accuracy is low. As a result, it is possible to both ensure construction accuracy and suppress a decrease in work efficiency. In addition, since the threshold can be set as a probability value, the user can intuitively set the threshold.

As shown in FIG. 12D, even when the allowable error is set to 0 cm (that is, when the axis of the construction target surface and the allowable lower limit coincide), the area of the region surrounded by the probability density function and the allowable lower limit is 50 cm. %, so it is desirable to set the threshold to less than 50%. Further, when the variance σ and the probability are used as the threshold value for judging whether the low-precision warning flag is valid or invalid, it is desirable that the threshold value can be freely changed by the operator who is the user.

In FIG. 13, the positioning calculation unit 20a reads the construction information 21 and various setting information (construction target surface, allowable error, threshold value Pset) directly input by the operator via the tablet terminal 30 (step S200). As for the construction target plane, the work target plane calculated by the work target plane calculation unit 20d may be used as described above.

Subsequently, sensor information necessary for attitude calculation is acquired from the GNSS system 17 and the inertial measurement devices 13 to 16 (step S110).

Subsequently, the three-dimensional attitude calculation unit 20a-1 uses the positions and dispersions of the GNSS antennas 17a and 17b, the output of the GNSS system 17, and the output of the vehicle body IMU 13 to determine the reference point (for example, the boom footpin). The position and variance of are calculated (step S120).

Subsequently, using the positions of the reference points calculated in step S120 and the outputs of the inertial measurement devices 13 to 16, the coordinates and variance σ of the positions of the reference points set on the bucket 6 are calculated.

Subsequently, the point-to-point distance calculator 20a-2 calculates the shortest distance (distance a) between the construction target plane acquired in step S100 and the position of the reference point calculated in step S130 (step S140).

Subsequently, the accuracy determination unit 20a-3 uses the difference b between the construction target surface and the allowable error obtained in step S100, the variance σ of the reference points calculated in step S130, and the distance a calculated in step S140. Then, an integral value (deviation probability Pdev) in a range smaller than the allowable lower limit of the probability density function is calculated, and it is determined whether or not the deviation probability Pdev is smaller than the threshold value Pset (step S250).

If the determination result in step S250 is NO, the low accuracy warning flag is invalidated (step S151), and the process ends. If the determination result in step S250 is YES, the low accuracy warning flag is enabled (step S160), and the process ends.

Other configurations are the same as those of the first embodiment.

The same effects as those of the first embodiment can be obtained in the present embodiment configured as described above.

<Third Embodiment>
A third embodiment of the present invention will be described with reference to FIG.

This embodiment shows a case where the work mode is used for the determination of the low-accuracy state (accuracy state determination processing).

FIG. 14 is a diagram schematically showing the details of the processing functions of the controller according to this embodiment. In the figure, members similar to those in the first and second embodiments are denoted by the same reference numerals, and descriptions thereof are omitted.

In FIG. 14, the positioning calculation unit 20a has a three-dimensional posture calculation unit 20a-1, a point-to-point distance calculation unit 20a-2, and an accuracy determination unit 20a-3.

The accuracy determination unit 20a-3 calculates the work mode input via the tablet terminal 30, the allowable error, the distance calculated by the point-to-point distance calculation unit 20a-2, and the three-dimensional posture calculation unit 20a-1. Based on the calculated reference point dispersion, it is determined whether or not the three-dimensional posture information calculated by the three-dimensional posture calculation section 20a-1 has the accuracy required for use in machine guidance and machine control. When the accuracy determination unit 20a-3 determines that the three-dimensional posture information has sufficient accuracy, it outputs a flag to that effect to the monitor display control unit 20b and the hydraulic system control unit 20c. Further, when the accuracy determination unit 20a-3 determines that the three-dimensional posture information does not have sufficient accuracy, the accuracy determination unit 20a-3 transmits a low accuracy warning flag to the monitor display control unit 20b and the hydraulic system control unit 20c, and performs machine guidance. and disrupt machine control.

As shown in FIG. 14, in this embodiment, the operator selects a work mode using the tablet terminal 30 . The work modes are given names that can be intuitively understood by the user, such as rough excavation work and finishing work. The accuracy determination unit 20a-3 stores in advance the allowable error (see the first embodiment) and the threshold (see the second embodiment) corresponding to the work mode set on the tablet terminal 30. , the accuracy determination process is performed by selecting the allowable error and the threshold value based on the set work mode. For example, when the rough excavation mode is set as the work mode, the allowable error value is set to 20 cm, and when the finishing mode is set, the allowable error value is set to 3 cm.

Other configurations are the same as those of the first and second embodiments.

The same effects as those of the first and second embodiments can be obtained in this embodiment configured as described above.

Further, in the first and second embodiments, the case where the operator sets the allowable error and the threshold as the reference values used in the accuracy determination process has been described as an example. Therefore, although the user can select the usage according to the work site, the high degree of freedom may lead to poor usability (difficulty in operation) for users who are unfamiliar with the operation. rice field. Therefore, in the present embodiment, usability can be improved by reducing the number of setting items by the user as much as possible.

<Fourth Embodiment>
A fourth embodiment of the present invention will be described with reference to FIGS. 15 and 16. FIG.

This embodiment shows a case where a hydraulic excavator having only one GNSS antenna is used to determine a low-accuracy state (accuracy determination processing).

FIG. 15 is a diagram schematically showing the details of the processing functions of the controller according to this embodiment. Moreover, FIG. 16 is a figure explaining the calculation method of an azimuth. In the figure, the same reference numerals are given to the same members as in the first embodiment, and the description thereof is omitted.

In this embodiment, as shown in FIG. 16, a case where one GNSS antenna 17a is arranged on the upper part of the upper rotating body 2 will be described as an example.

In FIG. 15, the positioning calculation unit 20a includes a three-dimensional posture calculation unit 20a-1, a point-to-point distance calculation unit 20a-2, an accuracy determination unit 20a-3, and an azimuth calculation unit 20a-4. there is

The azimuth angle calculation unit 20a-4 calculates the azimuth angle and dispersion of the upper swing body 2 based on the correction amount input via the tablet terminal 30 and the detection result of the vehicle body IMU 13, and calculates the three-dimensional posture calculation unit. Output to 20a-1.

If there is only one GNSS antenna, the GNSS system 17 cannot calculate the azimuth angle. Therefore, in the present embodiment, the azimuth angle of the upper structure 2 is calculated by integrating the angular velocity detected by the vehicle body IMU 13 provided in the upper structure 2 . At this time, since the angle that can be obtained by the vehicle body IMU 13 is the turning angle of the upper turning body 2, the azimuth angle in the field coordinates cannot be obtained directly. That is, it is necessary to convert the turning angle acquired by the vehicle body IMU 13 into an azimuth angle in the field coordinates.

For this conversion, for example, as shown in FIG. 14, a known point whose three-dimensional coordinates are known is prepared on the work site, and the toe of the bucket 6 (for example, a reference point) is aligned with this known point. A correction amount calculated so that the coordinates of the reference point calculated by the dimensional orientation calculation unit 20a-1 and the coordinates of the known point match may be used. By storing this correction amount in a storage area of the tablet terminal 30 or the like and using it as correction information, the three-dimensional coordinates and variance of the reference point can be calculated in the three-dimensional attitude calculation section 20a-1.

Since the azimuth angle calculator 20a-4 does not perform satellite positioning, it is not affected by variations due to satellite placement, etc., but the gyro bias of the vehicle body IMU 13 has an effect on the azimuth angle calculation accuracy. For this reason, the azimuth angle calculator 20a-4 is configured to increase the dispersion of the azimuth angle according to the elapsed time from the calculation of the correction amount.

The three-dimensional attitude calculation unit 20a-1 uses attitude information acquired by the inertial measurement devices 13 to 16 attached to the upper rotating body 2 and the front work machine 1, position information and variance calculated by the GNSS system 17, and azimuth The azimuth angle and dispersion calculated by the angle calculator 20a-4 are used as inputs to calculate the posture of the hydraulic excavator 100 in the three-dimensional space (that is, the three-dimensional posture information). Posture information calculated by the three-dimensional posture information calculation unit 20a-1 is output to the monitor display control unit 20b, the hydraulic system control unit 20c, and the work target surface calculation unit 20d, and is used for calculation of machine guidance and machine control. be.

Other configurations are the same as those of the first embodiment.

The same effects as those of the first embodiment can be obtained in the present embodiment configured as described above.

In addition, the present invention can be applied even in an inexpensive configuration in which the GNSS system has only one GNSS antenna and does not have an azimuth calculation function.

Next, features of each of the above embodiments will be described.

(1) In the above embodiment, the lower traveling body 3, the upper revolving body 2 provided so as to be able to revolve with respect to the lower traveling body, and the upper revolving body attached to and rotatably connected to the upper revolving body An articulated front working machine 1 comprising a plurality of front members (e.g., boom 4, arm 5, bucket 6); an attitude information detection device (for example, inertial measurement devices 13 to 16) that detects attitude information that is information about the attitude of the upper slewing body; A position information detection device (for example, the GNSS system 17) that detects using positioning signals from satellites, and based on the attitude information detected by the attitude information detection device and the position information detected by the position information detection device, the operator In a work machine (for example, a hydraulic excavator 100) equipped with a guidance system that guides work to a position, the guidance system detects posture information detected by the posture information detection device and a position detected by the position information detection device. Based on the dispersion of information, the dispersion of the positions of the reference points set on the front working machine is calculated , and the dispersion of the positions of the reference points is obtained by approximately coordinate transformation using a predetermined statistical method. If the distance between the position and the reference point is greater than the sum of the distance between the predetermined work target plane and the reference point and the predetermined allowable error for the work target plane, it is determined that the state is in a low-accuracy state. If the accuracy determination process determines that the position of the reference point is in a low-accuracy state, the operator is notified to that effect.
(2) Further, a multi-function system comprising a lower traveling body, an upper revolving body provided so as to be able to turn with respect to the lower traveling body, and a plurality of front members attached to the upper revolving body and rotatably connected to each other. an articulated front work machine; an attitude information detection device provided in the upper revolving body and the front work machine for detecting attitude information that is information relating to the attitudes of the upper revolving body and the front work machine; and the upper revolving body. a position information detection device provided on the body for detecting position information of the upper slewing structure and dispersion of the position information using positioning signals from positioning satellites; and attitude information detected by the attitude information detection device and the position information. and a guidance system that provides work guidance to an operator based on position information detected by a detection device, wherein the guidance system detects the position information and the posture information detected by the posture information detection device. calculating the variance of the positions of the reference points set on the front working machine based on the variance of the position information detected by the device, and averaging the positions of the reference points based on the variance of the positions of the reference points; Calculate the deviation probability, which is the integrated value of the area below the predetermined tolerance of the work target surface in the probability density function that follows the normal distribution, and if the deviation probability is greater than the predetermined threshold, the low-accuracy state Accuracy determination processing of the position of the reference point determined to be present is performed, and if the accuracy determination processing determines that the reference point is in a low-accuracy state, the operator is notified to that effect.

With this configuration, by appropriately evaluating the positioning accuracy of the position detection device that uses the positioning signals from the positioning satellites, it is possible to ensure construction accuracy and suppress a decrease in work efficiency.

(3) In the above embodiment, in the working machine (eg, hydraulic excavator 100) of (1) or (2) , when the guidance system determines that the low-accuracy state is Work guidance was to be suspended.

(4) In the above embodiments, in the working machine (eg, hydraulic excavator 100) of (1) or (2) , the posture information detection device (eg, inertial measurement devices 13 to 16) uses Information including the azimuth angle of the upper swing body 2 is detected, and the guidance system detects the attitude information detected by the attitude information detection device and the position information detected by the position information detection device (for example, the GNSS system 17). and the variance of the positions of the reference points set on the front working machine 1 is calculated, and the accuracy determination processing of the positions of the reference points is performed based on the variance of the positions of the reference points. .

(5) In the above embodiments, in the working machine (eg, hydraulic excavator 100) of (1) or (2) , the guidance system includes the posture information detection device (eg, inertial measurement devices 13 to 16 ) and the dispersion of the position information detected by the position information detection device (for example, the GNSS system 17), the dispersion of the positions of the reference points set on the front work implement 1 is calculated. Then, the accuracy determination processing of the positions of the reference points is performed based on a value obtained by multiplying the dispersion of the positions of the reference points by a predetermined magnification setting value.

(6) Further, in the above embodiment, in the working machine (for example, the hydraulic excavator 100) of (1) or (2) , the guidance system changes the determination conditions in the accuracy determination process according to the work mode. shall be.

<Appendix>
It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the invention. Moreover, the present invention is not limited to those having all the configurations described in the above embodiments, and includes those having some of the configurations omitted. Further, each of the above configurations, functions, etc. may be realized by designing a part or all of them, for example, with an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.

REFERENCE SIGNS LIST 1 front work machine 2 upper revolving body 2a revolving motor 3 lower traveling body 3a traveling motor 4 boom 4a boom cylinder 5 arm 5a arm cylinder 6 bucket 6a... Bucket cylinder, 7... Hydraulic pump device, 8... Control valve, 9... Driver's cab, 9a, 9b... Operation lever (operating device), 13 to 16... Inertial measurement unit (IMU), 17... GNSS system, 17a, 17b ... GNSS antenna (receiving antenna), 17c ... GNSS receiver, 20 ... controller, 20a ... positioning calculation unit, 20a-1 ... three-dimensional attitude calculation unit, 20a-2 ... inter-point distance calculation unit, 20a-3 ... accuracy Determination unit 20a-4 Azimuth calculation unit 20b Monitor display control unit 20c Hydraulic system control unit 20d Work target plane calculation unit 21 Construction information 30 Monitor (tablet terminal) 100 Hydraulic pressure Excavator

Claims (6)

a lower running body;
an upper revolving body provided so as to be able to revolve with respect to the lower running body;
an articulated front working machine, which is attached to the upper revolving structure and includes a plurality of rotatably connected front members;
an attitude information detection device provided in the upper revolving body and the front work machine for detecting attitude information, which is information relating to the attitudes of the upper revolving body and the front work machine;
a position information detection device provided on the upper slewing body for detecting the position information of the upper slewing body and the dispersion of the position information using positioning signals from positioning satellites;
A working machine comprising a guidance system that provides work guidance to an operator based on posture information detected by the posture information detection device and position information detected by the position information detection device,
The guidance system calculates the dispersion of the positions of the reference points set on the front working machine based on the orientation information detected by the orientation information detection device and the dispersion of the position information detected by the position information detection device. The distance between the reference point and the position obtained by approximately coordinate-transforming the dispersion of the positions of the reference points by a predetermined statistical method is the distance between the predetermined work target plane and the reference points. and a predetermined allowable error with respect to the work target surface. A working machine characterized by notifying the operator of the fact when it is determined that the a lower running body;
an upper revolving body provided so as to be able to revolve with respect to the lower running body;
an articulated front working machine, which is attached to the upper revolving structure and includes a plurality of rotatably connected front members;
an attitude information detection device provided in the upper revolving body and the front work machine for detecting attitude information, which is information relating to the attitudes of the upper revolving body and the front work machine;
a position information detection device provided on the upper slewing body for detecting the position information of the upper slewing body and the dispersion of the position information using positioning signals from positioning satellites;
A working machine comprising a guidance system that provides work guidance to an operator based on posture information detected by the posture information detection device and position information detected by the position information detection device,
The guidance system calculates the dispersion of the positions of the reference points set on the front working machine based on the orientation information detected by the orientation information detection device and the dispersion of the position information detected by the position information detection device. A deviation probability is calculated based on the dispersion of the reference point positions and is an integral value of the area below the predetermined tolerance of the work target surface in the probability density function according to the normal distribution with the position of the reference point as the mean value. If the deviation probability is greater than a predetermined threshold value, the reference point position accuracy determination process is performed to determine the low-accuracy state, and the low-accuracy state is determined in the accuracy determination process. A working machine characterized by notifying the operator to that effect, if any. The working machine according to claim 1 or 2 ,
The working machine, wherein the guidance system stops the work guidance when it is determined that the low-accuracy state is present. The working machine according to claim 1 or 2 ,
The attitude information detection device detects information including an azimuth angle of the upper swing body as attitude information,
The guidance system calculates the dispersion of the positions of the reference points set on the front working machine based on the orientation information detected by the orientation information detection device and the dispersion of the position information detected by the position information detection device. A working machine, wherein accuracy determination processing of the positions of the reference points is performed based on the dispersion of the positions of the reference points. The working machine according to claim 1 or 2 ,
The guidance system calculates the dispersion of the positions of the reference points set on the front working machine based on the orientation information detected by the orientation information detection device and the dispersion of the position information detected by the position information detection device. A working machine according to claim 1, wherein accuracy determination processing of the positions of the reference points is performed based on a value obtained by multiplying the dispersion of the positions of the reference points by a predetermined magnification setting value. The working machine according to claim 1 or 2 ,
The working machine, wherein the guidance system changes the determination conditions in the accuracy determination process according to the work mode.

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